EP0807562A2 - Procédé pour affaiblir le moment de giration dans un système antiblocage - Google Patents

Procédé pour affaiblir le moment de giration dans un système antiblocage Download PDF

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Publication number
EP0807562A2
EP0807562A2 EP97104339A EP97104339A EP0807562A2 EP 0807562 A2 EP0807562 A2 EP 0807562A2 EP 97104339 A EP97104339 A EP 97104339A EP 97104339 A EP97104339 A EP 97104339A EP 0807562 A2 EP0807562 A2 EP 0807562A2
Authority
EP
European Patent Office
Prior art keywords
vehicle
abs
electronics
wheel
pressure difference
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP97104339A
Other languages
German (de)
English (en)
Other versions
EP0807562B1 (fr
EP0807562A3 (fr
Inventor
Ralf Koschorek
Hartmut Rosendahl
Johann Rothen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZF CV Systems Hannover GmbH
Original Assignee
Wabco GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wabco GmbH filed Critical Wabco GmbH
Publication of EP0807562A2 publication Critical patent/EP0807562A2/fr
Publication of EP0807562A3 publication Critical patent/EP0807562A3/fr
Application granted granted Critical
Publication of EP0807562B1 publication Critical patent/EP0807562B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B60T8/3255—Systems in which the braking action is dependent on brake pedal data
    • B60T8/326—Hydraulic systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1764—Regulation during travel on surface with different coefficients of friction, e.g. between left and right sides, mu-split or between front and rear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/50—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition having means for controlling the rate at which pressure is reapplied to or released from the brake
    • B60T8/505—Pressure reapplication in a mu-split situation, i.e. a situation with different coefficients of friction on both sides of the vehicle

Definitions

  • the invention relates to a method for reducing the yaw moment in an anti-lock braking system in a vehicle according to the preamble of patent claim 1.
  • EBS electronic brake system
  • a setpoint originating from a brake value transmitter can be adjusted as brake pressure in the brake cylinders (actual value) (DE-OS 44 06 235).
  • These brake systems are also usually equipped with an ABS. Since pressure sensors are available for recording the brake pressures, it is already known to limit the measured pressure differences between the low wheel on the smooth side of the road and the high wheel on the non-slip side of the road and to achieve a yaw moment attenuation. OS 24 60 309).
  • the high wheel can also be controlled in terms of pressure by the regulating low wheel while maintaining an appropriate mean pressure difference ( ⁇ P), or can also be kept at a constant pressure.
  • ⁇ P mean pressure difference
  • a disadvantage of the known arrangements is that the yaw moment attenuation is constant, that is, it is not matched to the particular road conditions or the particular vehicle.
  • the maximum permitted brake pressure of the high wheel is, after the time-delayed build-up, that determined by the frictional force of the low wheel Braking course of the low wheel dependent and thus limited.
  • the maximum braking force of the high wheel that is permissible for controllable vehicle behavior is not always used sufficiently. It is possible that if the high wheel is under-braked too much braking distance is wasted. It is also possible that the brake pressure difference ( ⁇ P) is too high for critical vehicles, so that they are difficult or impossible to control by the driver when braking with ⁇ -split coefficients of friction.
  • the invention is based on the object of specifying a method for reducing the yaw moment in a vehicle with an anti-lock braking system which on the one hand relieves the driver of excessive countersteering and on the other hand shortens the braking distance compared to the known systems.
  • a yaw moment attenuation is possible, which adapts itself automatically to the changing road conditions and vehicle types or loads and thus contributes to a reduction in the total braking distance in comparison to known methods.
  • the controllability of the vehicle on ⁇ -split lanes remains unchanged.
  • FIG. 1 an electronic brake system (EBS) with integrated ABS is shown schematically as a block diagram to explain the concept of the invention.
  • EBS electronic brake system
  • the invention can also be used in a conventional brake system with ABS.
  • a brake value transmitter (1) with an electrical signal output is connected to a controller (2).
  • the brake pressure setpoint originating from the brake value transmitter (1) is compared in the controller (2) with an actual brake pressure value which is sensed by a pressure sensor (6) in a brake cylinder and is reported back to the controller (2) as brake pressure (P B ) .
  • the pressure sensor (6) can also be arranged in a control valve (3).
  • control valve (3) controlled by the controller (2), which is connected to a compressed air reservoir (4).
  • controller (2) which is connected to a compressed air reservoir (4).
  • the vehicle wheel (7) assigned to the brake cylinder (5) is provided with a speed sensor (8). This is connected to ABS electronics (9).
  • the two electronics of the EBS (2) and the ABS (9) can exchange data via connecting lines, or the ABS is designed as an integral part of the EBS.
  • ABS electronics (9) If the ABS electronics (9) detects an impending blockage of the wheel (7), it sends corresponding signals to the controller (2), causing the controller (2) to reduce the excess brake pressure. This relieves the brake pressure of the wheel and gives it the opportunity to start again. As soon as the wheel speed has again adjusted to the vehicle speed, the wheel can be subjected to brake pressure again. This results in brake pressure control cycles that have an average frequency of approximately 1 Hz.
  • One or more axle load sensors (10) are also connected to the electronics of the components (2) or (9). In this way, the electronics receive information about the loading of the vehicle.
  • a unit (12) is connected, which provides information about the center of gravity of the vehicle.
  • This can be a potentiometer or a keyboard, which the driver can use to enter an estimate of the center of gravity. But it can also be electronics that independently determine the focus, e.g. B. from the axle load shift when braking.
  • FIG. 2 shows a diagram in which the braking pressures (P B ) of the two wheels of the steering and front axles (VA) are plotted against the time (t).
  • the brake pressure increases from the time (t 0 ), the beginning of braking, initially for both wheels of the front axle, namely the high wheel running on the grippy side of the road and the low wheel running on the slippery side of the road .
  • ABS 9 detects a tendency of the low wheel to lock and causes the brake pressure in the brake cylinder of the low wheel to drop, which continues until time t 2 .
  • the brake pressure at time t 1 is the so-called cut-off pressure (P max ). This is followed by a pressure maintenance phase for the low wheel until a new control cycle begins at time (t 3 ) with a renewed pressure increase for the low wheel.
  • the brake pressure in the high wheel continues to increase until it is kept constant by the yaw moment weakening according to the invention at time (t 4 ), as soon as an average brake pressure difference ( ⁇ P) to the low wheel is reached.
  • ⁇ P average brake pressure difference
  • the pressure difference ( ⁇ P) is not, as previously known, constant, but, according to the invention, is dependent on certain external parameters, as a result of which both the road conditions and certain data of the vehicle are taken into account for the yaw moment weakening.
  • ⁇ P The permitted pressure difference
  • the road friction coefficient ⁇ can be determined qualitatively most easily with a suitable method from the respective regulation pressures P max .
  • Another variable that is included in the algorithm for calculating the pressure difference ⁇ P is the loading of the vehicle. This can be derived from axle load sensors (10) or an ALB sensor (11).
  • the center of gravity of the vehicle is heavily dependent on the respective load, particularly in the case of commercial vehicles.
  • the center of gravity can be entered into the controller (2) using the unit (12).
  • the wheelbase and the track width of the vehicle are further important variables for the yaw moment.
  • the algorithm for calculating the permitted pressure difference .DELTA.P is now selected according to the invention such that the permitted pressure difference .DELTA.P increases with the road friction coefficient, the load and the wheelbase of the vehicle.
  • these three variables which can also be demonstrated theoretically, lead to better controllability of the vehicle in situations in which yaw moments occur.
  • the algorithm is designed in such a way that the permitted pressure difference ⁇ P decreases with the height of the center of gravity and the track width of the vehicle, since experience and theoretically demonstrable that these two variables make it difficult to control the vehicle in ⁇ -split situations.
  • the loading of the vehicle can also be determined from the signal from the ALB sensor (11) or the signals from axle load sensors (10) on the rear axle of the vehicle.
  • the driver can estimate the center of gravity of the vehicle and enter the electronics of EBS (2) or ABS (9) by means of the unit (12), which has a keyboard, for example.
  • the unit (12) can independently calculate the center of gravity of the vehicle. This is possible, for example, from the signals of the axle load sensors (10) if road gradients and / or accelerations of the vehicle are also evaluated. The pitching movements of the vehicle that occur on inclines or during accelerations or decelerations are approximately proportional to the center of gravity.
  • the invention described above can of course also be used correspondingly in vehicles with more than just one steering axle or more than just one rear axle. It can also be used in anti-yaw moment systems, in which the pressure level of the high wheel is not kept constant in steps (see FIG. 2), but synchronous pressure cycles are generated in accordance with the pressure cycles of the low wheel, even with the high wheel (not shown).

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Regulating Braking Force (AREA)
  • Hydraulic Control Valves For Brake Systems (AREA)
EP97104339A 1996-05-14 1997-03-14 Procédé pour affaiblir le moment de giration dans un système antiblocage Expired - Lifetime EP0807562B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19619381 1996-05-14
DE19619381A DE19619381A1 (de) 1996-05-14 1996-05-14 Verfahren zur Giermoment-Abschwächung bei einem Antiblockiersystem

Publications (3)

Publication Number Publication Date
EP0807562A2 true EP0807562A2 (fr) 1997-11-19
EP0807562A3 EP0807562A3 (fr) 1999-07-28
EP0807562B1 EP0807562B1 (fr) 2003-06-04

Family

ID=7794262

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97104339A Expired - Lifetime EP0807562B1 (fr) 1996-05-14 1997-03-14 Procédé pour affaiblir le moment de giration dans un système antiblocage

Country Status (3)

Country Link
US (1) US6044319A (fr)
EP (1) EP0807562B1 (fr)
DE (2) DE19619381A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999051475A1 (fr) * 1998-04-07 1999-10-14 Robert Bosch Gmbh Procede et dispositif pour la stabilisation d'un vehicule
EP0918003A3 (fr) * 1997-11-22 2000-03-29 Robert Bosch Gmbh Procédé et dispositif de détermination d'un paramètre lié à la hauteur du centre de gravité d'un véhicule
EP3996959B1 (fr) 2019-07-12 2024-07-10 Robert Bosch GmbH Procédé de fonctionnement d'un système anti-blocage d'un véhicule et système anti-blocage correspondant

Families Citing this family (26)

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Publication number Priority date Publication date Assignee Title
JP3726462B2 (ja) * 1997-11-21 2005-12-14 アイシン精機株式会社 車両の制動制御装置
JPH11152027A (ja) * 1997-11-21 1999-06-08 Akebono Brake Ind Co Ltd アンチロック制御方法
DE19815440A1 (de) * 1998-04-07 1999-10-14 Wabco Gmbh Steuereinrichtung für eine Fahrzeug-Bremsanlage
DE59912656D1 (de) 1998-07-16 2005-11-17 Continental Teves Ag & Co Ohg Hydraulikaggregat
EP1097069B1 (fr) 1998-07-17 2002-07-31 Continental Teves AG & Co. oHG Procede et dispositif permettant de determiner et de detecter le risque de basculement d'un vehicule a moteur
DE19904216A1 (de) * 1998-07-17 2000-01-20 Continental Teves Ag & Co Ohg Verfahren und Vorrichtung zum Bestimmen und Erkennen der Kippgefahr eines Fahrzeuges
US6663113B2 (en) 1998-10-09 2003-12-16 Robert Bosch Gmbh System and method for reducing stopping distance and improving traction in motor vehicles
WO2001049541A1 (fr) * 1999-12-30 2001-07-12 Robert Bosch Gmbh Procede et dispositif de regulation de la force de freinage
DE10011269A1 (de) * 2000-03-08 2001-09-13 Bosch Gmbh Robert Verfahren und Vorrichtung zur Steuerung einer Bremsanlage
DE10053608B4 (de) * 2000-10-28 2010-01-28 Robert Bosch Gmbh Antriebsschlupfregelungseinrichtung und Verfahren zum Regeln des Schlupfes eines Rades
US6512973B2 (en) * 2001-01-03 2003-01-28 Delphi Technologies, Inc. System and method for ABS stability control
US7661772B2 (en) * 2001-11-15 2010-02-16 Robert Bosch Gmbh Method and device for improving braking behavior
JP3908074B2 (ja) * 2002-04-08 2007-04-25 アイシン精機株式会社 電動ステアリング制御装置、及び該装置を有する車両のアンチスキッド制御装置
DE10237002A1 (de) * 2002-08-13 2004-02-26 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bremsung zweier Räder eines Fahrzeugs
DE10244204B4 (de) * 2002-09-23 2005-10-20 Bosch Gmbh Robert Einstellung einer Bremswirkung in Abhängigkeit einer einseitigen Reibwertänderung
JP2004210046A (ja) * 2002-12-27 2004-07-29 Toyota Motor Corp 車輌用アンチスキッド制御装置
SE525248C2 (sv) * 2003-02-18 2005-01-11 Scania Cv Ab Arrangemang och förfarande för att uppskatta tyngdpunktshöjden hos ett fordon
US20040201272A1 (en) * 2003-04-08 2004-10-14 Delphi Technologies Inc. ABS yaw control with yaw rate sensor
JP4345416B2 (ja) * 2003-06-03 2009-10-14 トヨタ自動車株式会社 車輌の制動力制御装置
DE10356673B4 (de) 2003-12-04 2008-10-02 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Anordnung zur Beeinflussung des Giermoments
DE102004056108A1 (de) * 2004-02-20 2005-09-08 Continental Teves Ag & Co. Ohg Verfahren zur näherungsweisen Ermittlung der Schwerpunktlage eines Fahrzeuges
DE102008001504A1 (de) * 2008-04-30 2009-11-05 Robert Bosch Gmbh Vorrichtung und Verfahren zur Bremsdruckregelung
JP2012066785A (ja) * 2010-09-27 2012-04-05 Fuji Heavy Ind Ltd 車両の統合制御装置
WO2013047670A1 (fr) * 2011-09-28 2013-04-04 日信工業株式会社 Dispositif de commande de pression de fluide de frein pour véhicule
DE102014216265A1 (de) * 2014-08-15 2016-02-18 Continental Teves Ag & Co. Ohg Verfahren zur Anpassung der Regelstrategie eines Schlupfregelsystems eines Fahrzeugs in einer μ-Split-Situation
US11475776B2 (en) 2019-12-10 2022-10-18 Bendix Commercial Vehicle Systems Llc Utilizing axle loading information to determining braking capabilities of vehicles for platooning operations

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DE4225983C2 (de) * 1992-08-06 2002-03-14 Bosch Gmbh Robert Verfahren zur Bremsung von Fahrzeugrädern
JPH07132816A (ja) * 1993-11-09 1995-05-23 Akebono Brake Ind Co Ltd アンチロック制御方法
DE4406235A1 (de) * 1994-02-25 1995-08-31 Wabco Vermoegensverwaltung Druckregeleinrichtung
DE4441624A1 (de) * 1994-11-23 1996-05-30 Teves Gmbh Alfred Schaltungsanordnung für eine Bremsanlage mit Blockierschutzregelung

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0918003A3 (fr) * 1997-11-22 2000-03-29 Robert Bosch Gmbh Procédé et dispositif de détermination d'un paramètre lié à la hauteur du centre de gravité d'un véhicule
US6370938B1 (en) 1997-11-22 2002-04-16 Robert Bosch Gmbh Method and device for determining a quantity describing the height of the center of gravity of a vehicle
WO1999051475A1 (fr) * 1998-04-07 1999-10-14 Robert Bosch Gmbh Procede et dispositif pour la stabilisation d'un vehicule
US6494281B1 (en) 1998-04-07 2002-12-17 Robert Bosch Gmbh Method and device for stabilizing a vehicle
EP3996959B1 (fr) 2019-07-12 2024-07-10 Robert Bosch GmbH Procédé de fonctionnement d'un système anti-blocage d'un véhicule et système anti-blocage correspondant

Also Published As

Publication number Publication date
DE59710193D1 (de) 2003-07-10
DE19619381A1 (de) 1997-11-20
US6044319A (en) 2000-03-28
EP0807562B1 (fr) 2003-06-04
EP0807562A3 (fr) 1999-07-28

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